Event-driven MPC for leader-follower nonlinear multi-agent systems

In this paper, we propose a model predictive control (MPC) method, which is on the basis of event-driven, for a tracking scheme of a leader-follower nonlinear multi-agent system (MAS) limited to input constraints and disturbances. An event-driven condition is designed for each follower such that each follower updates its states at trigger instants. By the designed event-driven scheme, a MPC method is proposed to implement the tracking scheme. Recursive feasibility and practical stability are ensured simultaneously by devising a robust terminal region as well as appropriate parameters for each follower. At last, an example on satellites is provided to validate the validity of the presented approach.